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   <div id="projectname">eda1314-11951-Algoritmo-AStar
   &#160;<span id="projectnumber">1.0</span>
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   <div id="projectbrief">Measure algorithm execution time and report to grafs</div>
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<div class="title">aStar.py</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment"># !/usr/bin/env python</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"># -*- coding: utf-8 -*-</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="stringliteral"># A* Shortest Path Algorithm:</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="stringliteral"># http://en.wikipedia.org/wiki/A*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="stringliteral"># Adriano Leal</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="stringliteral"># 11951</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">import</span> math</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">import</span> image</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div>
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classa_star_1_1_a_star.html">   15</a></span>&#160;<span class="keyword">class </span><a class="code" href="classa_star_1_1_a_star.html">AStar</a>(object):</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="stringliteral">    Classe AStar contem o algoritimo para pesquisa do menor caminho entre dois pontos.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="stringliteral">    Contém os métodos auxiliares do algoritimo A*, metodo de custo e de heiristica.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="stringliteral">    &#39;&#39;&#39;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    op = <span class="keywordtype">None</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keyword">def </span>__init__(self):</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        self.<a class="code" href="classa_star_1_1_a_star.html#af1c75fcc1579e954812851d5bc12eff1">op</a> = <a class="code" href="classimage_1_1_open_image.html">image.OpenImage</a></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        self.<a class="code" href="classa_star_1_1_a_star.html#ae168c9a6bc53af5bec8caea66a335e87">P1</a> = (192, 48)  <span class="comment"># P1 = Ponto inicial.</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        self.<a class="code" href="classa_star_1_1_a_star.html#a517943399874039f4ebc1e612482eb3c">P2</a> = (260, 508)  <span class="comment"># P2 = Ponto final.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classa_star_1_1_a_star.html#ae60264aa09e5d12da6c5b6bcd4ad8c99">   28</a></span>&#160;    <span class="keyword">def </span><a class="code" href="classa_star_1_1_a_star.html#ae60264aa09e5d12da6c5b6bcd4ad8c99">movimentCost</a>(self, node):</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="stringliteral">        A função que recebe dois pontos como argumentos</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="stringliteral">        e retorna o custo numérico.</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="stringliteral">        @param node = Ponto com as coordenadas x, y.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="stringliteral">        @return = retorna o custo do movimento.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="stringliteral">        &#39;&#39;&#39;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keywordflow">return</span> 1 - (self.img[node[1], node[0]][0] / 255.0)</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classa_star_1_1_a_star.html#a3fe64455668524b269740b8e7edf1471">   38</a></span>&#160;    <span class="keyword">def </span><a class="code" href="classa_star_1_1_a_star.html#a3fe64455668524b269740b8e7edf1471">heuristic</a>(self, start, goal):</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        <span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="stringliteral">        Uma função que recebe um ponto de saida e um ponto de meta,</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="stringliteral">        e retorna a estimativa heurística numérica</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="stringliteral">        o custo de alcançar o objetivo do ponto.</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="stringliteral">        @param start = Ponto com a coordenada x, y inicial.</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="stringliteral">        @param goal = Ponto com a coordenada x, y final.</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="stringliteral">        @return = retorna o resultado do calculo da heuristica.</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="stringliteral">        &#39;&#39;&#39;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        xd = goal[0] - start[0]</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        yd = goal[1] - start[1]</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="comment"># Euclidian Distance</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        d = math.sqrt(xd * xd + yd * yd)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">return</span> (d)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classa_star_1_1_a_star.html#a711dba503174fec35c689072e2f9bf7c">   54</a></span>&#160;    <span class="keyword">def </span><a class="code" href="classa_star_1_1_a_star.html#a711dba503174fec35c689072e2f9bf7c">neighbor</a>(self, current, dirs):</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="stringliteral">        Gera o número de possíveis direções transitáveis.</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="stringliteral">        @param current = Ponto com a coordenada x, y atual.</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="stringliteral">        @param dirs = Direções possiveis a serem seguidas.</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="stringliteral">        @return = retorna os vizinhos do ponto corrente.</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="stringliteral">        &#39;&#39;&#39;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        dirs = dirs  <span class="comment"># número de direções possiveis.</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordflow">if</span> dirs == 4:</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;            dx = xrange(-1, 2)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            dy = xrange(-1, 2)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            <span class="comment"># dx = [1, 0, -1, 0]</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            <span class="comment"># dy = [0, 1, 0, -1]</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordflow">elif</span> dirs == 8:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            dx = [1, 1, 0, -1, -1, -1, 0, 1]</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            dy = [0, 1, 1, 1, 0, -1, -1, -1]</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        neighbor = [(current[0] + x, current[1] + y)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                    <span class="keywordflow">for</span> x <span class="keywordflow">in</span> dx</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                    <span class="keywordflow">for</span> y <span class="keywordflow">in</span> dy</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                    <span class="keywordflow">if</span> ((current[0] + x, current[1] + y)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                        <span class="keywordflow">not</span> <span class="keywordflow">in</span> closeSet)]</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">return</span> neighbor</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classa_star_1_1_a_star.html#a8dfe0338d843b727cc11cbb1a2673ef2">   81</a></span>&#160;    <span class="keyword">def </span><a class="code" href="classa_star_1_1_a_star.html#a8dfe0338d843b727cc11cbb1a2673ef2">aStar</a>(self, dirs, P2):</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="stringliteral">&#39;&#39;&#39;</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="stringliteral">        Calcula um caminho mais curto.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="stringliteral">        Inicializar o objeto e, em seguida, repetidamente para se</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="stringliteral">        obter o caminho entre um ponto de partida e um ponto final.</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="stringliteral">        #Pseudo-código de A *</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="stringliteral">        #http://wiki.gamegardens.com/Path_Finding_Tutorial#Pathfinding_Overview</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="stringliteral">        @param dirs = Direções possiveis a serem seguidas.</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="stringliteral">        @return = retorna a lista fechada com os nós já pesquisados.</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="stringliteral">        &#39;&#39;&#39;</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">global</span> closeSet</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="comment"># Seta current com o nó inicial</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        current = self.<a class="code" href="classa_star_1_1_a_star.html#ae168c9a6bc53af5bec8caea66a335e87">P1</a></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="comment"># criar a lista aberta de nós, contendo apenas o nosso nó inicial</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        openSet = [self.<a class="code" href="classa_star_1_1_a_star.html#ae168c9a6bc53af5bec8caea66a335e87">P1</a>]</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment"># criar a lista fechada de nós, inicialmente vazia</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        closeSet = []</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="comment"># enquanto não for atingido o nosso objetivo</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">while</span> <span class="keywordflow">not</span> (current == P2):</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            cost = []</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="comment"># calcula o custo do nó contido na lista aberta, adicionando</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="comment"># em current o nó com o custo de valor mínimo.</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordflow">for</span> node <span class="keywordflow">in</span> openSet:</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                cost.append(self.<a class="code" href="classa_star_1_1_a_star.html#ae60264aa09e5d12da6c5b6bcd4ad8c99">movimentCost</a>(node) + self.<a class="code" href="classa_star_1_1_a_star.html#a3fe64455668524b269740b8e7edf1471">heuristic</a>(node, P2) / 20)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            current = openSet[cost.index(min(cost))]</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            <span class="comment"># move o nó atual para a lista fechada</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            openSet.remove(current)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            closeSet.append(current)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            <span class="comment"># adiciona na lista aberta os vizinhos do nó corrente.</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keywordflow">if</span> current <span class="keywordflow">not</span> <span class="keywordflow">in</span> openSet:</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                openSet = self.<a class="code" href="classa_star_1_1_a_star.html#a711dba503174fec35c689072e2f9bf7c">neighbor</a>(current, dirs)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">return</span> closeSet</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div>
<div class="ttc" id="classa_star_1_1_a_star_html_af1c75fcc1579e954812851d5bc12eff1"><div class="ttname"><a href="classa_star_1_1_a_star.html#af1c75fcc1579e954812851d5bc12eff1">aStar.AStar.op</a></div><div class="ttdeci">op</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00020">aStar.py:20</a></div></div>
<div class="ttc" id="classimage_1_1_open_image_html"><div class="ttname"><a href="classimage_1_1_open_image.html">image.OpenImage</a></div><div class="ttdef"><b>Definition:</b> <a href="image_8py_source.html#l00016">image.py:16</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_a517943399874039f4ebc1e612482eb3c"><div class="ttname"><a href="classa_star_1_1_a_star.html#a517943399874039f4ebc1e612482eb3c">aStar.AStar.P2</a></div><div class="ttdeci">P2</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00025">aStar.py:25</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_a711dba503174fec35c689072e2f9bf7c"><div class="ttname"><a href="classa_star_1_1_a_star.html#a711dba503174fec35c689072e2f9bf7c">aStar.AStar.neighbor</a></div><div class="ttdeci">def neighbor</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00054">aStar.py:54</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html"><div class="ttname"><a href="classa_star_1_1_a_star.html">aStar.AStar</a></div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00015">aStar.py:15</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_ae60264aa09e5d12da6c5b6bcd4ad8c99"><div class="ttname"><a href="classa_star_1_1_a_star.html#ae60264aa09e5d12da6c5b6bcd4ad8c99">aStar.AStar.movimentCost</a></div><div class="ttdeci">def movimentCost</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00028">aStar.py:28</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_ae168c9a6bc53af5bec8caea66a335e87"><div class="ttname"><a href="classa_star_1_1_a_star.html#ae168c9a6bc53af5bec8caea66a335e87">aStar.AStar.P1</a></div><div class="ttdeci">P1</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00024">aStar.py:24</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_a8dfe0338d843b727cc11cbb1a2673ef2"><div class="ttname"><a href="classa_star_1_1_a_star.html#a8dfe0338d843b727cc11cbb1a2673ef2">aStar.AStar.aStar</a></div><div class="ttdeci">def aStar</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00081">aStar.py:81</a></div></div>
<div class="ttc" id="classa_star_1_1_a_star_html_a3fe64455668524b269740b8e7edf1471"><div class="ttname"><a href="classa_star_1_1_a_star.html#a3fe64455668524b269740b8e7edf1471">aStar.AStar.heuristic</a></div><div class="ttdeci">def heuristic</div><div class="ttdef"><b>Definition:</b> <a href="a_star_8py_source.html#l00038">aStar.py:38</a></div></div>
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